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<li class="toctree-l2"><a class="reference internal" href="#colmap-3-8-01-31-2023">COLMAP 3.8 (01/31/2023)</a></li>
<li class="toctree-l2"><a class="reference internal" href="#colmap-3-7-01-26-2022">COLMAP 3.7 (01/26/2022)</a></li>
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  <section id="changelog">
<span id="id1"></span><h1>Changelog<a class="headerlink" href="#changelog" title="Permalink to this heading"></a></h1>
<section id="colmap-3-8-01-31-2023">
<h2>COLMAP 3.8 (01/31/2023)<a class="headerlink" href="#colmap-3-8-01-31-2023" title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p>Updating geo-registration doc. by &#64;ferreram in <a class="reference external" href="https://github.com/colmap/colmap/pull/1410">https://github.com/colmap/colmap/pull/1410</a></p></li>
<li><p>Adding user-specified option for reconstructing purely planar scene. … by &#64;ferreram in <a class="reference external" href="https://github.com/colmap/colmap/pull/1408">https://github.com/colmap/colmap/pull/1408</a></p></li>
<li><p>Only apply sqlite vacuum command when elements are deleted from the database. by &#64;ferreram in <a class="reference external" href="https://github.com/colmap/colmap/pull/1414">https://github.com/colmap/colmap/pull/1414</a></p></li>
<li><p>Replace Graclus with Metis dependency by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1422">https://github.com/colmap/colmap/pull/1422</a></p></li>
<li><p>Update ceres download URL in build script by &#64;whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1430">https://github.com/colmap/colmap/pull/1430</a></p></li>
<li><p>Fix type errors when building colmap with build.py in windows by &#64;whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1440">https://github.com/colmap/colmap/pull/1440</a></p></li>
<li><p>Fix bug in the computation of the statistics Global/Local BA by &#64;whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1449">https://github.com/colmap/colmap/pull/1449</a></p></li>
<li><p>Add RefineGeneralizedAbsolutePose and covariance estimation by &#64;Skydes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1464">https://github.com/colmap/colmap/pull/1464</a></p></li>
<li><p>Update docker image definition by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1478">https://github.com/colmap/colmap/pull/1478</a></p></li>
<li><p>Upgrade deprecated ceres parameterizations to manifolds by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1477">https://github.com/colmap/colmap/pull/1477</a></p></li>
<li><p>Use masks for stereo fusion on automatic reconstruction by &#64;ibrarmalik in <a class="reference external" href="https://github.com/colmap/colmap/pull/1488">https://github.com/colmap/colmap/pull/1488</a></p></li>
<li><p>fix random seed set failed from external interface by &#64;WZG3661 in <a class="reference external" href="https://github.com/colmap/colmap/pull/1498">https://github.com/colmap/colmap/pull/1498</a></p></li>
<li><p>Replace deprecated Eigen nonZeros() call for most recent Eigen versions. by &#64;nackjaylor in <a class="reference external" href="https://github.com/colmap/colmap/pull/1494">https://github.com/colmap/colmap/pull/1494</a></p></li>
<li><p>Fix ceres-solver folder name by &#64;f-fl0 in <a class="reference external" href="https://github.com/colmap/colmap/pull/1501">https://github.com/colmap/colmap/pull/1501</a></p></li>
<li><p>Improved convergence criterion for XYZ to ELL conversion by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1505">https://github.com/colmap/colmap/pull/1505</a></p></li>
<li><p>Fix bug in the function SetPtr of Bitmap by &#64;whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1525">https://github.com/colmap/colmap/pull/1525</a></p></li>
<li><p>Avoid the calling of copy constructor/assignment by &#64;whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1524">https://github.com/colmap/colmap/pull/1524</a></p></li>
<li><p>Avoid calling copy constructors of  FeatureKeypoints and FeatureDescriptors by &#64;whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1540">https://github.com/colmap/colmap/pull/1540</a></p></li>
<li><p>Initialize freeimage if statically linked by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1549">https://github.com/colmap/colmap/pull/1549</a></p></li>
<li><p>Avoid hard crash if Jacobian matrix is rank deficient by &#64;mihaidusmanu in <a class="reference external" href="https://github.com/colmap/colmap/pull/1557">https://github.com/colmap/colmap/pull/1557</a></p></li>
<li><p>visualize_model.py: added FULL_OPENCV model by &#64;soeroesg in <a class="reference external" href="https://github.com/colmap/colmap/pull/1552">https://github.com/colmap/colmap/pull/1552</a></p></li>
<li><p>Update vcpkg version to fix CI pipeline by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1568">https://github.com/colmap/colmap/pull/1568</a></p></li>
<li><p>Replace deprecated Mac OS 10.15 with Mac OS 12 build in CI by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1569">https://github.com/colmap/colmap/pull/1569</a></p></li>
<li><p>Fix inconsistent between the actual executed image reader option and the saved project.ini file by &#64;XuChengHUST in <a class="reference external" href="https://github.com/colmap/colmap/pull/1564">https://github.com/colmap/colmap/pull/1564</a></p></li>
<li><p>checkout the expected version of ceres solver by &#64;scott-vsi in <a class="reference external" href="https://github.com/colmap/colmap/pull/1576">https://github.com/colmap/colmap/pull/1576</a></p></li>
<li><p>use default qt5 brew install directory #1573 by &#64;catapulta in <a class="reference external" href="https://github.com/colmap/colmap/pull/1574">https://github.com/colmap/colmap/pull/1574</a></p></li>
<li><p>Fix image undistortion with nested image folders by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1606">https://github.com/colmap/colmap/pull/1606</a></p></li>
<li><p>Fix source file permissions by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1607">https://github.com/colmap/colmap/pull/1607</a></p></li>
<li><p>Fixed the collection of arguments in colmap.bat by &#64;tdegraaff in <a class="reference external" href="https://github.com/colmap/colmap/pull/1121">https://github.com/colmap/colmap/pull/1121</a></p></li>
<li><p>Add OpenMP to COLMAP_EXTERNAL_LIBRARIES if enabled by &#64;logchan in <a class="reference external" href="https://github.com/colmap/colmap/pull/1632">https://github.com/colmap/colmap/pull/1632</a></p></li>
<li><p>Fix output tile reconstructions are the same as the input reconstruction in <cite>RunModelSplitter</cite> (#1513) by &#64;Serenitysmk in <a class="reference external" href="https://github.com/colmap/colmap/pull/1531">https://github.com/colmap/colmap/pull/1531</a></p></li>
<li><p>add <cite>libmetis-dev</cite> to solve <cite>METIS_INCLUDE_DIRS</cite>. by &#64;FavorMylikes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1672">https://github.com/colmap/colmap/pull/1672</a></p></li>
<li><p>Update install.rst by &#64;tomer-grin in <a class="reference external" href="https://github.com/colmap/colmap/pull/1671">https://github.com/colmap/colmap/pull/1671</a></p></li>
<li><p>Update freeimage links. by &#64;Yulv-git in <a class="reference external" href="https://github.com/colmap/colmap/pull/1675">https://github.com/colmap/colmap/pull/1675</a></p></li>
<li><p>fix small typo by &#64;skal65535 in <a class="reference external" href="https://github.com/colmap/colmap/pull/1668">https://github.com/colmap/colmap/pull/1668</a></p></li>
<li><p>Update build.py with new glew link by &#64;aghand0ur in <a class="reference external" href="https://github.com/colmap/colmap/pull/1658">https://github.com/colmap/colmap/pull/1658</a></p></li>
<li><p>Add use_cache in fusion options GUI by &#64;hrflr in <a class="reference external" href="https://github.com/colmap/colmap/pull/1655">https://github.com/colmap/colmap/pull/1655</a></p></li>
<li><p>Add CI pipeline for Ubuntu 22.04 by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1688">https://github.com/colmap/colmap/pull/1688</a></p></li>
<li><p>Avoid unnecessary copies of data by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1691">https://github.com/colmap/colmap/pull/1691</a></p></li>
<li><p>Reduce memory allocations in correspondence graph search by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1692">https://github.com/colmap/colmap/pull/1692</a></p></li>
<li><p>Use FindCUDAToolkit when available. by &#64;hanseuljun in <a class="reference external" href="https://github.com/colmap/colmap/pull/1693">https://github.com/colmap/colmap/pull/1693</a></p></li>
<li><p>Fixed a crash due to inconsistent undistortion by &#64;SomeAlphabetGuy in <a class="reference external" href="https://github.com/colmap/colmap/pull/1698">https://github.com/colmap/colmap/pull/1698</a></p></li>
<li><p>Add CUDA Ubuntu 22.04 CI build by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1705">https://github.com/colmap/colmap/pull/1705</a></p></li>
<li><p>Delete the redundancy install of libmetis-dev by &#64;thomas-graphopti in <a class="reference external" href="https://github.com/colmap/colmap/pull/1721">https://github.com/colmap/colmap/pull/1721</a></p></li>
<li><p>Fix broken loading of image masks on macOS by &#64;buesma in <a class="reference external" href="https://github.com/colmap/colmap/pull/1639">https://github.com/colmap/colmap/pull/1639</a></p></li>
<li><p>Update install instructions with latest hints and known issues by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1736">https://github.com/colmap/colmap/pull/1736</a></p></li>
<li><p>Modernize smart pointer initialization, fix alloc/dealloc mismatch by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1737">https://github.com/colmap/colmap/pull/1737</a></p></li>
<li><p>Fix typo in cli.rst by &#64;ojhernandez in <a class="reference external" href="https://github.com/colmap/colmap/pull/1747">https://github.com/colmap/colmap/pull/1747</a></p></li>
<li><p>Fix inconsistent image resizing between CPU/GPU implementations of SIFT by &#64;Yzhbuaa in <a class="reference external" href="https://github.com/colmap/colmap/pull/1642">https://github.com/colmap/colmap/pull/1642</a></p></li>
<li><p>Reduce number of SIFT test features to make tests run under WSL by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1748">https://github.com/colmap/colmap/pull/1748</a></p></li>
<li><p>Tag documentation version with dev by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1749">https://github.com/colmap/colmap/pull/1749</a></p></li>
<li><p>Update copyright to 2023 by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1750">https://github.com/colmap/colmap/pull/1750</a></p></li>
<li><p>Fix max image dimension for positive first_octave by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1751">https://github.com/colmap/colmap/pull/1751</a></p></li>
<li><p>Fix SIFT GPU match creation by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1757">https://github.com/colmap/colmap/pull/1757</a></p></li>
<li><p>Fix SIFT tests for OpenGL by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1762">https://github.com/colmap/colmap/pull/1762</a></p></li>
<li><p>Suppress CUDA stack size warning for ptxas by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1770">https://github.com/colmap/colmap/pull/1770</a></p></li>
<li><p>Simplify CUDA CMake configuration by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1776">https://github.com/colmap/colmap/pull/1776</a></p></li>
<li><p>Fixes for CUDA compilation by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1777">https://github.com/colmap/colmap/pull/1777</a></p></li>
<li><p>Improvements to dockerfile and build pipeline by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1778">https://github.com/colmap/colmap/pull/1778</a></p></li>
<li><p>Explicitly require CMAKE_CUDA_ARCHITECTURES to be defined by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1781">https://github.com/colmap/colmap/pull/1781</a></p></li>
<li><p>Depend on system installed FLANN by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1782">https://github.com/colmap/colmap/pull/1782</a></p></li>
<li><p>Option to store relative pose between two cameras in database by &#64;yanxke in <a class="reference external" href="https://github.com/colmap/colmap/pull/1774">https://github.com/colmap/colmap/pull/1774</a></p></li>
<li><p>Depend on system installed SQLite3 by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1783">https://github.com/colmap/colmap/pull/1783</a></p></li>
</ul>
</section>
<section id="colmap-3-7-01-26-2022">
<h2>COLMAP 3.7 (01/26/2022)<a class="headerlink" href="#colmap-3-7-01-26-2022" title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p>Allow to save fused point cloud in colmap format when using command line by &#64;boitumeloruf in <a class="reference external" href="https://github.com/colmap/colmap/pull/799">https://github.com/colmap/colmap/pull/799</a></p></li>
<li><p>Fix typos in image.h by &#64;Pascal-So in <a class="reference external" href="https://github.com/colmap/colmap/pull/936">https://github.com/colmap/colmap/pull/936</a></p></li>
<li><p>Fix for EPnP estimator by &#64;vlarsson in <a class="reference external" href="https://github.com/colmap/colmap/pull/943">https://github.com/colmap/colmap/pull/943</a></p></li>
<li><p>Visualize models using Python in Open3D by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/948">https://github.com/colmap/colmap/pull/948</a></p></li>
<li><p>Update tutorial.rst by &#64;ignacio-rocco in <a class="reference external" href="https://github.com/colmap/colmap/pull/953">https://github.com/colmap/colmap/pull/953</a></p></li>
<li><p>8 point algorithm internal contraint fix by &#64;mihaidusmanu in <a class="reference external" href="https://github.com/colmap/colmap/pull/982">https://github.com/colmap/colmap/pull/982</a></p></li>
<li><p>Python script for writing depth/normal arrays by &#64;SBCV in <a class="reference external" href="https://github.com/colmap/colmap/pull/957">https://github.com/colmap/colmap/pull/957</a></p></li>
<li><p>BuildImageModel: use std::vector instead of numbered arguments by &#64;Pascal-So in https://github.com/colmap/colmap/pull/949</p></li>
<li><p>Fix bugs of sift feature matching by &#64;whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/985">https://github.com/colmap/colmap/pull/985</a></p></li>
<li><p>script for modifying fused results by &#64;SBCV in <a class="reference external" href="https://github.com/colmap/colmap/pull/984">https://github.com/colmap/colmap/pull/984</a></p></li>
<li><p>fix camera model query by &#64;Pascal-So in <a class="reference external" href="https://github.com/colmap/colmap/pull/997">https://github.com/colmap/colmap/pull/997</a></p></li>
<li><p>fixed small bug in visualize_model.py by &#64;sniklaus in <a class="reference external" href="https://github.com/colmap/colmap/pull/1007">https://github.com/colmap/colmap/pull/1007</a></p></li>
<li><p>Update .travis.yml by &#64;srinivas32 in <a class="reference external" href="https://github.com/colmap/colmap/pull/989">https://github.com/colmap/colmap/pull/989</a></p></li>
<li><p>Ensure DecomposeHomographyMatrix() always returns rotations by &#64;daithimaco in <a class="reference external" href="https://github.com/colmap/colmap/pull/1040">https://github.com/colmap/colmap/pull/1040</a></p></li>
<li><p>Remove deprecated qt foreach by &#64;UncleGene in <a class="reference external" href="https://github.com/colmap/colmap/pull/1039">https://github.com/colmap/colmap/pull/1039</a></p></li>
<li><p>Fix AMD/Windows GUI visualization bug by &#64;drkoller in <a class="reference external" href="https://github.com/colmap/colmap/pull/1079">https://github.com/colmap/colmap/pull/1079</a></p></li>
<li><p>include colmap_cuda in COLMAP_LIBRARIES when compiled with cuda by &#64;ClementPinard in <a class="reference external" href="https://github.com/colmap/colmap/pull/1084">https://github.com/colmap/colmap/pull/1084</a></p></li>
<li><p>Fix runtime crash when sparsesuite is missing from ceres by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1115">https://github.com/colmap/colmap/pull/1115</a></p></li>
<li><p>Store relative poses in two_view_geometry table by &#64;Ahmed-Salama in <a class="reference external" href="https://github.com/colmap/colmap/pull/1103">https://github.com/colmap/colmap/pull/1103</a></p></li>
<li><p>search src images for patch_match from all set, not only referenced subset by &#64;DaniilSNikulin in <a class="reference external" href="https://github.com/colmap/colmap/pull/1038">https://github.com/colmap/colmap/pull/1038</a></p></li>
<li><p>Replace Travis CI with Azure Pipelines for Linux/Mac builds by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1119">https://github.com/colmap/colmap/pull/1119</a></p></li>
<li><p>Allow ReadPly to handle double precision files by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1131">https://github.com/colmap/colmap/pull/1131</a></p></li>
<li><p>Update GPSTransform calculations to improve accuracy by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1132">https://github.com/colmap/colmap/pull/1132</a></p></li>
<li><p>Add scale template flag in SimilarityTransform3::Estimate by &#64;anmatako in https://github.com/colmap/colmap/pull/1133</p></li>
<li><p>Add CopyFile utility that can copy or hard/soft-link files by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1134">https://github.com/colmap/colmap/pull/1134</a></p></li>
<li><p>Expose BA options in IncrementalMapper by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1139">https://github.com/colmap/colmap/pull/1139</a></p></li>
<li><p>Allow configurable paths for mvs::Model by &#64;anmatako in https://github.com/colmap/colmap/pull/1141</p></li>
<li><p>Change ReconstructionMaanger to write larger recons first by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1137">https://github.com/colmap/colmap/pull/1137</a></p></li>
<li><p>Setup Azure pipelines for Windows build by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1150">https://github.com/colmap/colmap/pull/1150</a></p></li>
<li><p>Add fixed extrinsics in rig config by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1144">https://github.com/colmap/colmap/pull/1144</a></p></li>
<li><p>Allow custom config and missing dependencies for patch-match by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1142">https://github.com/colmap/colmap/pull/1142</a></p></li>
<li><p>Update print statements for Python 3 compatibility by &#64;UncleGene in <a class="reference external" href="https://github.com/colmap/colmap/pull/1126">https://github.com/colmap/colmap/pull/1126</a></p></li>
<li><p>Allow cleanup of SQLite tables using new database_cleaner command by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1136">https://github.com/colmap/colmap/pull/1136</a></p></li>
<li><p>Extend SceneClustering to support non-hierarchical (flat) clusters by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1140">https://github.com/colmap/colmap/pull/1140</a></p></li>
<li><p>Support more formats in model_converter by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1147">https://github.com/colmap/colmap/pull/1147</a></p></li>
<li><p>Fix Mac 10.15 build due to changed Qt5 path by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1157">https://github.com/colmap/colmap/pull/1157</a></p></li>
<li><p>Fix bug in ReadCameraRigConfig when reading extrinsics by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1158">https://github.com/colmap/colmap/pull/1158</a></p></li>
<li><p>Add utility to compare poses between two sparse models by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1159">https://github.com/colmap/colmap/pull/1159</a></p></li>
<li><p>Modularize executable main functions into separate sources by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1160">https://github.com/colmap/colmap/pull/1160</a></p></li>
<li><p>Fix unnecessary copies in for range loops by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1162">https://github.com/colmap/colmap/pull/1162</a></p></li>
<li><p>Add script to clang-format all source code by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1163">https://github.com/colmap/colmap/pull/1163</a></p></li>
<li><p>Add back new options and formats for model_converter by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1164">https://github.com/colmap/colmap/pull/1164</a></p></li>
<li><p>ImageReder new option and bug fix in GPS priors by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1146">https://github.com/colmap/colmap/pull/1146</a></p></li>
<li><p>Parallelize stereo fusion; needs pre-loading of entire workspace by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1148">https://github.com/colmap/colmap/pull/1148</a></p></li>
<li><p>Refactoring and new functionality in Reconstruction class by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1169">https://github.com/colmap/colmap/pull/1169</a></p></li>
<li><p>Add new functionality in image_undistorter by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1168">https://github.com/colmap/colmap/pull/1168</a></p></li>
<li><p>Add new CMake option to disable GUI by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1165">https://github.com/colmap/colmap/pull/1165</a></p></li>
<li><p>Fix the memory leak caused by not releasing the memory of the PRNG at the end of the thread by &#64;whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1170">https://github.com/colmap/colmap/pull/1170</a></p></li>
<li><p>Fix fusion segfault bug by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1176">https://github.com/colmap/colmap/pull/1176</a></p></li>
<li><p>Update SiftGPU to use floorf for floats by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1182">https://github.com/colmap/colmap/pull/1182</a></p></li>
<li><p>fix typo in extraction.cc by &#64;iuk in <a class="reference external" href="https://github.com/colmap/colmap/pull/1191">https://github.com/colmap/colmap/pull/1191</a></p></li>
<li><p>Improvements to NVM, Cam, Recon3D, and Bundler exporters by &#64;drkoller in <a class="reference external" href="https://github.com/colmap/colmap/pull/1187">https://github.com/colmap/colmap/pull/1187</a></p></li>
<li><p>Update model_aligner functionality by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1177">https://github.com/colmap/colmap/pull/1177</a></p></li>
<li><p>Add new model_cropper and model_splitter commands by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1179">https://github.com/colmap/colmap/pull/1179</a></p></li>
<li><p>use type point2D_t instead of image_t by &#64;iuk in <a class="reference external" href="https://github.com/colmap/colmap/pull/1199">https://github.com/colmap/colmap/pull/1199</a></p></li>
<li><p>Fix radial distortion in Cam format exporter by &#64;drkoller in <a class="reference external" href="https://github.com/colmap/colmap/pull/1196">https://github.com/colmap/colmap/pull/1196</a></p></li>
<li><p>Add new model_transformer command by &#64;anmatako in <a class="reference external" href="https://github.com/colmap/colmap/pull/1178">https://github.com/colmap/colmap/pull/1178</a></p></li>
<li><p>Fix error of using urllib to download eigen from gitlab by &#64;whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1194">https://github.com/colmap/colmap/pull/1194</a></p></li>
<li><p>Multi-line string fix in Python model script by &#64;mihaidusmanu in <a class="reference external" href="https://github.com/colmap/colmap/pull/1217">https://github.com/colmap/colmap/pull/1217</a></p></li>
<li><p>added visibility_sigma to CLI input options for delaunay_mesher. by &#64;Matstah in <a class="reference external" href="https://github.com/colmap/colmap/pull/1236">https://github.com/colmap/colmap/pull/1236</a></p></li>
<li><p>Backwards compatibility of model_aligner by &#64;tsattler in <a class="reference external" href="https://github.com/colmap/colmap/pull/1240">https://github.com/colmap/colmap/pull/1240</a></p></li>
<li><p>[update undistortion] update dumped commands by &#64;hiakru in <a class="reference external" href="https://github.com/colmap/colmap/pull/1276">https://github.com/colmap/colmap/pull/1276</a></p></li>
<li><p>Compute reprojection error in generalized absolute solver by &#64;Skydes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1257">https://github.com/colmap/colmap/pull/1257</a></p></li>
<li><p>Modifying scripts/python/flickr_downloader.py to create files with correct extensions by &#64;snavely in <a class="reference external" href="https://github.com/colmap/colmap/pull/1275">https://github.com/colmap/colmap/pull/1275</a></p></li>
<li><p>revise Dockerfile and readme. by &#64;MasahiroOgawa in <a class="reference external" href="https://github.com/colmap/colmap/pull/1281">https://github.com/colmap/colmap/pull/1281</a></p></li>
<li><p>Update to latest vcpkg version by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1319">https://github.com/colmap/colmap/pull/1319</a></p></li>
<li><p>Fix compiler warnings reported by GCC by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1317">https://github.com/colmap/colmap/pull/1317</a></p></li>
<li><p>Auto-rotate JPEG images based on EXIF orientation by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1318">https://github.com/colmap/colmap/pull/1318</a></p></li>
<li><p>Upgrade vcpkg to fix CI build issues by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1331">https://github.com/colmap/colmap/pull/1331</a></p></li>
<li><p>Added descriptor normalization argument to feature_extractor. by &#64;mihaidusmanu in <a class="reference external" href="https://github.com/colmap/colmap/pull/1332">https://github.com/colmap/colmap/pull/1332</a></p></li>
<li><p>Fix memory leak in the function of StringAppendV by &#64;whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1337">https://github.com/colmap/colmap/pull/1337</a></p></li>
<li><p>Add CUDA_SAFE_CALL to cudaGetDeviceCount. by &#64;chpatrick in <a class="reference external" href="https://github.com/colmap/colmap/pull/1334">https://github.com/colmap/colmap/pull/1334</a></p></li>
<li><p>Add missing include in case CUDA/GUI is not available by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1329">https://github.com/colmap/colmap/pull/1329</a></p></li>
<li><p>Fix wrong WGS84 model and test cases in GPSTransform by &#64;Freeverc in <a class="reference external" href="https://github.com/colmap/colmap/pull/1333">https://github.com/colmap/colmap/pull/1333</a></p></li>
<li><p>Fixes bug in sprt.cc: num_inliers was not set. by &#64;rmbrualla in <a class="reference external" href="https://github.com/colmap/colmap/pull/1360">https://github.com/colmap/colmap/pull/1360</a></p></li>
<li><p>Prevent a divide by zero corner case. by &#64;rmbrualla in <a class="reference external" href="https://github.com/colmap/colmap/pull/1361">https://github.com/colmap/colmap/pull/1361</a></p></li>
<li><p>Adds missing header. by &#64;rmbrualla in <a class="reference external" href="https://github.com/colmap/colmap/pull/1362">https://github.com/colmap/colmap/pull/1362</a></p></li>
<li><p>Require Qt in COLMAPConfig only if GUI is enabled by &#64;Skydes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1365">https://github.com/colmap/colmap/pull/1365</a></p></li>
<li><p>Keep precision in the process of storing in text. by &#64;whuaegeanse in <a class="reference external" href="https://github.com/colmap/colmap/pull/1363">https://github.com/colmap/colmap/pull/1363</a></p></li>
<li><p>Expose exe internals by &#64;Skydes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1366">https://github.com/colmap/colmap/pull/1366</a></p></li>
<li><p>Fix inliers matches extraction in EstimateUncalibrated function. by &#64;ferreram in <a class="reference external" href="https://github.com/colmap/colmap/pull/1369">https://github.com/colmap/colmap/pull/1369</a></p></li>
<li><p>Expose exe internals - fix by &#64;Skydes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1368">https://github.com/colmap/colmap/pull/1368</a></p></li>
<li><p>Remove deprecated Mac OSX 10.14 image in ADO pipeline by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1383">https://github.com/colmap/colmap/pull/1383</a></p></li>
<li><p>Add Mac OSX 11 ADO pipeline job by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1384">https://github.com/colmap/colmap/pull/1384</a></p></li>
<li><p>Fix warnings for latest compiler/libraries by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1382">https://github.com/colmap/colmap/pull/1382</a></p></li>
<li><p>Fix clang compiler warnings by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1387">https://github.com/colmap/colmap/pull/1387</a></p></li>
<li><p>Add Address Sanitizer options and fix reported issues by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1390">https://github.com/colmap/colmap/pull/1390</a></p></li>
<li><p>User/joschonb/asan cleanup by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1391">https://github.com/colmap/colmap/pull/1391</a></p></li>
<li><p>Add ADO pipeline for Visual Studio 2022 by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1392">https://github.com/colmap/colmap/pull/1392</a></p></li>
<li><p>Add ccache option by &#64;ahojnnes in <a class="reference external" href="https://github.com/colmap/colmap/pull/1395">https://github.com/colmap/colmap/pull/1395</a></p></li>
<li><p>Update ModelAligner to handle GPS and custom coords. and more by &#64;ferreram in <a class="reference external" href="https://github.com/colmap/colmap/pull/1371">https://github.com/colmap/colmap/pull/1371</a></p></li>
</ul>
</section>
<section id="colmap-3-6-07-24-2020">
<h2>COLMAP 3.6 (07/24/2020)<a class="headerlink" href="#colmap-3-6-07-24-2020" title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p>Improved robustness and faster incremental reconstruction process</p></li>
<li><p>Add <code class="docutils literal notranslate"><span class="pre">image_deleter</span></code> command to remove images from sparse model</p></li>
<li><p>Add <code class="docutils literal notranslate"><span class="pre">image_filter</span></code> command to filter bad registrations from sparse model</p></li>
<li><p>Add <code class="docutils literal notranslate"><span class="pre">point_filtering</span></code> command to filter sparse model point clouds</p></li>
<li><p>Add <code class="docutils literal notranslate"><span class="pre">database_merger</span></code> command to merge two databases, which is
useful to parallelize matching across different machines</p></li>
<li><p>Add <code class="docutils literal notranslate"><span class="pre">image_undistorter_standalone</span></code> to enable undistorting images
without a pre-existing full sparse model</p></li>
<li><p>Improved undistortion for fisheye cameras and FOV camera model</p></li>
<li><p>Support for masking input images in feature extraction stage</p></li>
<li><p>Improved HiDPI support in GUI for high-resolution monitors</p></li>
<li><p>Import sparse model when launching GUI from CLI</p></li>
<li><p>Faster CPU-based matching using approximate NN search</p></li>
<li><p>Support for bundle adjustment with fixed extrinsics</p></li>
<li><p>Support for fixing existing images when continuing reconstruction</p></li>
<li><p>Camera model colors in viewer can be customized</p></li>
<li><p>Support for latest GPU architectures in CUDA build</p></li>
<li><p>Support for writing sparse models in Python scripts</p></li>
<li><p>Scripts for building and running COLMAP in Docker</p></li>
<li><p>Many more bug fixes and improvements to code and documentation</p></li>
</ul>
</section>
<section id="colmap-3-5-08-22-2018">
<h2>COLMAP 3.5 (08/22/2018)<a class="headerlink" href="#colmap-3-5-08-22-2018" title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p>COLMAP is now released under the BSD license instead of the GPL</p></li>
<li><p>COLMAP is now installed as a library, whose headers can be included and
libraries linked against from other C/C++ code</p></li>
<li><p>Add hierarchical mapper for parallelized reconstruction or large scenes</p></li>
<li><p>Add sparse and dense Delaunay meshing algorithms, which reconstruct a
watertight surface using a graph cut on the Delaunay triangulation of the
reconstructed sparse or dense point cloud</p></li>
<li><p>Improved robustness when merging different models</p></li>
<li><p>Improved pre-trained vocabulary trees available for download</p></li>
<li><p>Add COLMAP as a software entry under Linux desktop systems</p></li>
<li><p>Add support to compile COLMAP on ARM platforms</p></li>
<li><p>Add example Python script to read/write COLMAP database</p></li>
<li><p>Add region of interest (ROI) cropping in image undistortion</p></li>
<li><p>Several import bug fixes for spatial verification in image retrieval</p></li>
<li><p>Add more extensive continuous integration across more compilation scenarios</p></li>
<li><p>Many more bug fixes and improvements to code and documentation</p></li>
</ul>
</section>
<section id="colmap-3-4-01-29-2018">
<h2>COLMAP 3.4 (01/29/2018)<a class="headerlink" href="#colmap-3-4-01-29-2018" title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p>Unified command-line interface: The functionality of previous executables have
been merged into the <code class="docutils literal notranslate"><span class="pre">src/exe/colmap.cc</span></code> executable. The GUI can now be
started using the command <code class="docutils literal notranslate"><span class="pre">colmap</span> <span class="pre">gui</span></code> and other commands are available
as <code class="docutils literal notranslate"><span class="pre">colmap</span> <span class="pre">[command]</span></code>. For example, the feature extractor is now available
as <code class="docutils literal notranslate"><span class="pre">colmap</span> <span class="pre">feature_extractor</span> <span class="pre">[args]</span></code> while all command-line arguments stay
the same as before. This should result in much faster project compile times
and smaller disk space usage of the program. More details about the new
interface are documented at <a class="reference external" href="https://colmap.github.io/cli.html">https://colmap.github.io/cli.html</a></p></li>
<li><p>More complete depth and normal maps with larger patch sizes</p></li>
<li><p>Faster dense stereo computation by skipping rows/columns in patch match,
improved random sampling in patch match, and faster bilateral NCC</p></li>
<li><p>Better high DPI screen support for the graphical user interface</p></li>
<li><p>Improved model viewer under Windows, which now requires Qt 5.4</p></li>
<li><p>Save computed two-view geometries in database</p></li>
<li><p>Images (keypoint/matches visualization, depth and normal maps) can now be
saved from the graphical user interface</p></li>
<li><p>Support for PMVS format without sparse bundler file</p></li>
<li><p>Faster covariant feature detection</p></li>
<li><p>Many more bug fixes and improvements</p></li>
</ul>
</section>
<section id="colmap-3-3-11-21-2017">
<h2>COLMAP 3.3 (11/21/2017)<a class="headerlink" href="#colmap-3-3-11-21-2017" title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p>Add DSP (Domain Size Pooling) SIFT implementation. DSP-SIFT outperforms
standard SIFT in most cases, as shown in “Comparative Evaluation of
Hand-Crafted and Learned Local Features”, Schoenberger et al., CVPR 2017</p></li>
<li><p>Improved parameters dense reconstruction of smaller models</p></li>
<li><p>Improved compile times due to various code optimizations</p></li>
<li><p>Add option to specify camera model in automatic reconstruction</p></li>
<li><p>Add new model orientation alignment based on upright image assumption</p></li>
<li><p>Improved numerical stability for generalized absolute pose solver</p></li>
<li><p>Support for image range specification in PMVS dense reconstruction format</p></li>
<li><p>Support for older Python versions in automatic build script</p></li>
<li><p>Fix OpenCV Fisheye camera model to exactly match OpenCV specifications</p></li>
</ul>
</section>
<section id="colmap-3-2-9-2-2017">
<h2>COLMAP 3.2 (9/2/2017)<a class="headerlink" href="#colmap-3-2-9-2-2017" title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p>Fully automatic cross-platform build script (Windows, Mac, Linux)</p></li>
<li><p>Add multi-GPU feature extraction if multiple CUDA devices are available</p></li>
<li><p>Configurable dimension and data type for vocabulary tree implementation</p></li>
<li><p>Add new sequential matching mode for image sequences with high frame-rate</p></li>
<li><p>Add generalized relative pose solver for multi-camera systems</p></li>
<li><p>Add sparse least absolute deviation solver</p></li>
<li><p>Add CPU/GPU options to automatic reconstruction tool</p></li>
<li><p>Add continuous integration system under Windows, Mac, Linux through Github</p></li>
<li><p>Many more bug fixes and improvements</p></li>
</ul>
</section>
<section id="colmap-3-1-6-15-2017">
<h2>COLMAP 3.1 (6/15/2017)<a class="headerlink" href="#colmap-3-1-6-15-2017" title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p>Add fast spatial verification to image retrieval module</p></li>
<li><p>Add binary file format for sparse models by default. Old text format still
fully compatible and possible conversion in GUI and CLI</p></li>
<li><p>Add cross-platform little endian binary file reading and writing</p></li>
<li><p>Faster and less memory hungry stereo fusion by computing consistency on demand
and possible limitation of image size in fusion</p></li>
<li><p>Simpler geometric stereo processing interface.
Now geometric stereo output can be computed using a single pass</p></li>
<li><p>Faster and multi-architecture CUDA compilation</p></li>
<li><p>Add medium quality option in automatic reconstructor</p></li>
<li><p>Many more bug fixes and improvements</p></li>
</ul>
</section>
<section id="colmap-3-0-5-22-2017">
<h2>COLMAP 3.0 (5/22/2017)<a class="headerlink" href="#colmap-3-0-5-22-2017" title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p>Add automatic end-to-end reconstruction tool that automatically performs
sparse and dense reconstruction on a given set of images</p></li>
<li><p>Add multi-GPU dense stereo if multiple CUDA devices are available</p></li>
<li><p>Add multi-GPU feature matching if multiple CUDA devices are available</p></li>
<li><p>Add Manhattan-world / gravity alignment using line detection</p></li>
<li><p>Add CUDA-based feature extraction useful for usage on clusters</p></li>
<li><p>Add CPU-based feature matching for machines without GPU</p></li>
<li><p>Add new THIN_PRISM_FISHEYE camera model with tangential/radial correction</p></li>
<li><p>Add binary to triangulate existing/empty sparse reconstruction</p></li>
<li><p>Add binary to print summary statistics about sparse reconstruction</p></li>
<li><p>Add transitive feature matching to transitively complete match graph</p></li>
<li><p>Improved scalability of dense reconstruction by using caching</p></li>
<li><p>More stable GPU-based feature matching with informative warnings</p></li>
<li><p>Faster vocabulary tree matching using dynamic scheduling in FLANN</p></li>
<li><p>Faster spatial feature matching using linear index instead of kd-tree</p></li>
<li><p>More stable camera undistortion using numerical Newton iteration</p></li>
<li><p>Improved option parsing with some backwards incompatible option renaming</p></li>
<li><p>Faster compile times by optimizing includes and CUDA flags</p></li>
<li><p>More stable view selection for small baseline scenario in dense reconstruction</p></li>
<li><p>Many more bug fixes and improvements</p></li>
</ul>
</section>
<section id="colmap-2-1-12-7-2016">
<h2>COLMAP 2.1 (12/7/2016)<a class="headerlink" href="#colmap-2-1-12-7-2016" title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p>Support to only index and match specific images in vocabulary tree matching</p></li>
<li><p>Support to perform image retrieval using vocabulary tree</p></li>
<li><p>Several bug fixes and improvements for multi-view stereo module</p></li>
<li><p>Improved Structure-from-Motion initialization strategy</p></li>
<li><p>Support to only reconstruct the scene using specific images in the database</p></li>
<li><p>Add support to merge two models using overlapping registered images</p></li>
<li><p>Add support to geo-register/align models using known camera locations</p></li>
<li><p>Support to only extract specific images in feature extraction module</p></li>
<li><p>Support for snapshot model export during reconstruction</p></li>
<li><p>Skip already undistorted images if they exist in output directory</p></li>
<li><p>Support to limit the number of features in image retrieval for improved speed</p></li>
<li><p>Miscellaneous bug fixes and improvements</p></li>
</ul>
</section>
<section id="colmap-2-0-9-8-2016">
<h2>COLMAP 2.0 (9/8/2016)<a class="headerlink" href="#colmap-2-0-9-8-2016" title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p>Implementation of dense reconstruction pipeline</p></li>
<li><p>Improved feature matching performance</p></li>
<li><p>New bundle adjuster for rigidly mounted multi-camera systems</p></li>
<li><p>New generalized absolute pose solver for multi-camera systems</p></li>
<li><p>New executable to extract colors from all images</p></li>
<li><p>Boost can now be linked in shared and static mode</p></li>
<li><p>Various bug fixes and performance improvements</p></li>
</ul>
</section>
<section id="colmap-1-1-5-19-2016">
<h2>COLMAP 1.1 (5/19/2016)<a class="headerlink" href="#colmap-1-1-5-19-2016" title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p>Implementation of state-of-the-art image retrieval system using Hamming
embedding for vocabulary tree matching. This should lead to much improved
matching results as compared to the previous implementation.</p></li>
<li><p>Guided matching as an optional functionality.</p></li>
<li><p>New demo datasets for download.</p></li>
<li><p>Automatically switch to PBA if supported by the project.</p></li>
<li><p>Implementation of EPNP solver for local pose optimization in RANSAC.</p></li>
<li><p>Add option to extract upright SIFT features.</p></li>
<li><p>Saving JPEGs in superb quality by default in export.</p></li>
<li><p>Add option to clear matches and inlier matches in the project.</p></li>
<li><p>New fisheye camera models, including the FOV camera model used by Google
Project Tango (Thomas Schoeps).</p></li>
<li><p>Extended documentation based on user feedback.</p></li>
<li><p>Fixed typo in documentation (Thomas Schoeps).</p></li>
</ul>
</section>
<section id="colmap-1-0-4-4-2016">
<h2>COLMAP 1.0 (4/4/2016)<a class="headerlink" href="#colmap-1-0-4-4-2016" title="Permalink to this heading"></a></h2>
<ul class="simple">
<li><p>Initial release of COLMAP.</p></li>
</ul>
</section>
</section>


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